From f4562bc69b02f716a4112e660e74837fcbbe5e76 Mon Sep 17 00:00:00 2001
From: Max Marrone <max@opentrons.com>
Date: Fri, 4 Oct 2024 21:00:43 -0400
Subject: [PATCH] Update test_door_ungrip_labware().

---
 .../state/test_command_state.py               | 76 +++++++++----------
 1 file changed, 35 insertions(+), 41 deletions(-)

diff --git a/api/tests/opentrons/protocol_engine/state/test_command_state.py b/api/tests/opentrons/protocol_engine/state/test_command_state.py
index 6a76f2a8b0f..6f090612a74 100644
--- a/api/tests/opentrons/protocol_engine/state/test_command_state.py
+++ b/api/tests/opentrons/protocol_engine/state/test_command_state.py
@@ -557,8 +557,9 @@ def test_door_during_error_recovery() -> None:
     assert subject.state.failed_command_errors == [expected_error_occurance]
 
 
-def test_door_ungrip_labware() -> None:
-    """Test behavior when the door is opened during error recovery ungrip."""
+@pytest.mark.parametrize("close_door_before_queueing", [False, True])
+def test_door_ungrip_labware(close_door_before_queueing: bool) -> None:
+    """Ungrip commands should be able to run even when the door is open."""
     subject = CommandStore(
         is_door_open=False,
         error_recovery_policy=_placeholder_error_recovery_policy,
@@ -572,68 +573,61 @@ def test_door_ungrip_labware() -> None:
     subject_view = CommandView(subject.state)
 
     # Fail a command to put the subject in recovery mode.
-    queue_1 = actions.QueueCommandAction(
+    queue_failing = actions.QueueCommandAction(
         request=commands.CommentCreate(
             params=commands.CommentParams(message=""), key="command-key-1"
         ),
         request_hash=None,
         created_at=datetime(year=2021, month=1, day=1),
-        command_id="command-id-1",
+        command_id="failing-command-id",
     )
-    subject.handle_action(queue_1)
-    run_1 = actions.RunCommandAction(
-        command_id="command-id-1",
+    subject.handle_action(queue_failing)
+    run_failing = actions.RunCommandAction(
+        command_id="failing-command-id",
         started_at=datetime(year=2022, month=2, day=2),
     )
-    subject.handle_action(run_1)
+    subject.handle_action(run_failing)
     expected_error = errors.ProtocolEngineError(message="oh no")
-    expected_error_occurance = errors.ErrorOccurrence(
-        id="error-id",
-        errorType="ProtocolEngineError",
-        createdAt=datetime(year=2023, month=3, day=3),
-        detail="oh no",
-        errorCode=ErrorCodes.GENERAL_ERROR.value.code,
-    )
-    fail_1 = actions.FailCommandAction(
-        command_id="command-id-1",
-        running_command=subject_view.get("command-id-1"),
+    fail_failing = actions.FailCommandAction(
+        command_id="failing-command-id",
+        running_command=subject_view.get("failing-command-id"),
         error_id="error-id",
         failed_at=datetime(year=2023, month=3, day=3),
         error=expected_error,
         notes=[],
         type=ErrorRecoveryType.WAIT_FOR_RECOVERY,
     )
-    subject.handle_action(fail_1)
+    subject.handle_action(fail_failing)
 
-    queue_2 = actions.QueueCommandAction(
+    # Open the door:
+    subject.handle_action(actions.DoorChangeAction(DoorState.OPEN))
+    assert (
+        subject_view.get_status() == EngineStatus.AWAITING_RECOVERY_BLOCKED_BY_OPEN_DOOR
+    )
+    assert subject_view.get_next_to_execute() is None
+
+    if close_door_before_queueing:
+        subject.handle_action(actions.DoorChangeAction(DoorState.CLOSED))
+
+    assert subject_view.get_status() in (
+        EngineStatus.AWAITING_RECOVERY_PAUSED,  # If we closed the door.
+        EngineStatus.AWAITING_RECOVERY_BLOCKED_BY_OPEN_DOOR,  # If we didn't.
+    )
+
+    # Make sure the special ungrip command can be queued and that it will be returned
+    # as next to execute:
+    queue_fixit = actions.QueueCommandAction(
         request=commands.unsafe.UnsafeUngripLabwareCreate(
             params=commands.unsafe.UnsafeUngripLabwareParams(),
             intent=CommandIntent.FIXIT,
         ),
         request_hash=None,
         created_at=datetime(year=2021, month=1, day=1),
-        command_id="command-id-2",
+        command_id="fixit-command-id",
     )
-    subject.handle_action(queue_2)
-    assert subject_view.get_status() == EngineStatus.AWAITING_RECOVERY
-    assert subject_view.get_next_to_execute() == "command-id-2"
-
-    # Test state after we open the door:
-    subject.handle_action(actions.DoorChangeAction(DoorState.OPEN))
-    assert (
-        subject_view.get_status() == EngineStatus.AWAITING_RECOVERY_BLOCKED_BY_OPEN_DOOR
-    )
-    assert subject_view.get_next_to_execute() == "command-id-2"
-    play = actions.PlayAction(requested_at=datetime.now())
-    action = subject_view.validate_action_allowed(play)
-
-    assert action == play
-
-    # Test state when we resume recovery mode:
-    subject.handle_action(play)
-    assert subject_view.get_status() == EngineStatus.AWAITING_RECOVERY
-    assert subject_view.get_next_to_execute() == "command-id-2"
-    assert subject.state.failed_command_errors == [expected_error_occurance]
+    subject_view.validate_action_allowed(queue_fixit)
+    subject.handle_action(queue_fixit)
+    assert subject_view.get_next_to_execute() == "fixit-command-id"
 
 
 @pytest.mark.parametrize(